Shivam Akhauri

Shivam Akhauri

We address when a best-first router for tool-use agents can stop exploring without missing a better leaf, while preserving local differential privacy (LDP) and leaving an audit trail. We introduce a run-wise certificate that couples each node's key to the same exponential race that realizes leaf perturbations; the usual halting rule (stop when the maximum over $v$ in $F$ of Key$(v) \le B^*$) then certifies the realized run. We give two certified modes on context-indexed prefix DAGs with child partition: (i) Exact (known counts), using lazy offset propagation with winner reuse; and (ii) Surrogate (upper bounds only), which anchors keys to a parent-level surrogate race and allows validator tightening via $κ= \log(N / N_{ub}$). A small compiler enforces the partition property, and an admissible, race-independent M(tau) keeps keys sound. The ledger logs uniforms, counts, and tie handling; privacy follows by post-processing. Experiments on synthetic graphs and a small real pipeline show tight stopping, deterministic replay, and low overhead.

Shivam Akhauri, Laura Zheng, Tom Goldstein et al.

Practical learning-based autonomous driving models must be capable of generalizing learned behaviors from simulated to real domains, and from training data to unseen domains with unusual image properties. In this paper, we investigate transfer learning methods that achieve robustness to domain shifts by taking advantage of the invariance of spatio-temporal features across domains. In this paper, we propose a transfer learning method to improve generalization across domains via transfer of spatio-temporal features and salient data augmentation. Our model uses a CNN-LSTM network with Inception modules for image feature extraction. Our method runs in two phases: Phase 1 involves training on source domain data, while Phase 2 performs training on target domain data that has been supplemented by feature maps generated using the Phase 1 model. Our model significantly improves performance in unseen test cases for both simulation-to-simulation transfer as well as simulation-to-real transfer by up to +37.3\% in test accuracy and up to +40.8\% in steering angle prediction, compared to other SOTA methods across multiple datasets.

Shivam Akhauri, Laura Zheng, Ming Lin

Simulation data can be utilized to extend real-world driving data in order to cover edge cases, such as vehicle accidents. The importance of handling edge cases can be observed in the high societal costs in handling car accidents, as well as potential dangers to human drivers. In order to cover a wide and diverse range of all edge cases, we systemically parameterize and simulate the most common accident scenarios. By applying this data to autonomous driving models, we show that transfer learning on simulated data sets provide better generalization and collision avoidance, as compared to random initialization methods. Our results illustrate that information from a model trained on simulated data can be inferred to a model trained on real-world data, indicating the potential influence of simulation data in real world models and advancements in handling of anomalous driving scenarios.